format code

StanfordASL · Feb 14, 2024 · 22adbf4 · 22adbf4
1 parent e53c029
commit 22adbf4
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Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/ff_control/ff_control/wrench_ctrl.py b/ff_control/ff_control/wrench_ctrl.py
@@ -96,7 +96,7 @@ def set_world_wrench(self, wrench_world: Wrench2D, theta: float) -> None:
 
     def clip_wrench(self, wrench: Wrench2D) -> Wrench2D:
         wrench_clipped = Wrench2D()
-        force = np.sqrt(wrench.fx ** 2 + wrench.fy ** 2)
+        force = np.sqrt(wrench.fx**2 + wrench.fy**2)
         force_scale = max(force / self.p.actuators["F_body_max"], 1.0)
         torque_scale = max(abs(wrench.tz) / self.p.actuators["M_body_max"], 1.0)
 

diff --git a/ff_sim/ff_sim/simulator_node.py b/ff_sim/ff_sim/simulator_node.py
@@ -408,9 +408,7 @@ def f_dynamics_continuous_time(self, x, u):
         f[0:2] = v
         f[2] = thetadot
         thetaddot = (M - F[1] * p0[0] + F[0] * p0[1]) / J
-        f[3:5] = np.matmul(
-            R, (F / m - (thetaddot * np.array([-p0[1], p0[0]]) - thetadot ** 2 * p0))
-        )
+        f[3:5] = np.matmul(R, (F / m - (thetaddot * np.array([-p0[1], p0[0]]) - thetadot**2 * p0)))
         f[5] = thetaddot
 
         # add constant force due to table tilt